LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure co...

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Vydáno v:Sensors (Basel, Switzerland) Ročník 22; číslo 15; s. 5556
Hlavní autoři: Yuan, Tengfei, Zhao, Rongchen
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 25.07.2022
MDPI
Témata:
Accuracy
Autonomous vehicles
Control algorithms
Controllers
Design
Extended Kalman Filter (EKF) observer
lateral and longitudinal coupling control
Robust control
Sensors
trajectory tracking
Velocity
ISSN:1424-8220, 1424-8220
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Shrnutí:This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure composed of upper and lower-level controllers. In the upper-level controller, the linear quadratic regulator (LQR) controller is designed to compute the desired front wheel steering angle for minimizing the lateral tracking deviation, and the model-predictive controller is developed to compute the desired acceleration for maintaining the planed vehicle speed. The lower-level controller enables the achievement of the desired steering angle and acceleration via the corresponding component devices. Furthermore, an observer based on the Extended Kalman Filter (EKF) is proposed to update the vehicle driving states, which are sensitive to the trajectory-tracking control and difficult to measure directly using the existing vehicle sensors. Finally, the Co-simulation (CarSim-MATLAB/Simulink) results demonstrate that the proposed coupling controller is able to robustly realize the trajectory tracking control and can effectively reduce the lateral tracking error.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s22155556